FIELD
[0001] The present subject matter relates generally to a system and method for constructing
a robotic arm assembly, and more specifically a robotic arm of a robotic arm assembly.
BACKGROUND
[0002] Robotic arm assemblies are useful throughout various industries for performing operations
at, e.g., remote locations, hazardous locations, etc. At least certain robotic arm
assemblies include a robotic arm formed of a plurality of links joined together at
respective joints. Additionally, a plurality of control wires may extend through the
robotic arm, with each wire terminating at an individual link for moving such link
relative to an aft-adjacent link. The control wires may be coupled to one or more
motors within a base of the robotic arm assembly, such that the robotic arm assembly
may control a movement of the robotic arm by increasing and/or decreasing tension
on the plurality of control wires.
[0003] In order to form such a robotic arm of the robotic arm assembly, each of the individual
links are typically separately formed, and individual holes are extruded or drilled
for each of the plurality of control wires. The control wires are then threaded through
the extruded or separately drilled holes in the links. Such a construction method,
however, may make it difficult to construct relatively long and/or relatively thin
robotic arms. Specifically, with such a construction method, it may be difficult to
thread each of the control wires through each of the plurality of links of the robotic
arm, particularly when a relatively dense concentration of control wires is desired,
such that the control wires are relatively thin. Further, in the event of a failure
of one of the control wires, it may be difficult to replace such control wire.
[0004] Accordingly, a method for constructing a robotic arm assembly allowing for increased
ease of construction and/or repair would be useful.
BRIEF DESCRIPTION
[0005] Aspects and advantages of the invention will be set forth in part in the following
description, or may be obvious from the description, or may be learned through practice
of the invention.
[0006] In one aspect of the present disclosure, a method is provided for constructing a
robotic arm including a plurality of links and a rope assembly. The method includes
providing the rope assembly having a rope with a plurality of rope bearings threaded
thereon; and attaching the plurality of rope bearings of the rope assembly to the
plurality of links of the robotic arm.
[0007] In certain exemplary aspects providing the rope assembly having the rope with the
plurality of rope bearings threaded thereon includes threading the plurality of rope
bearings on the rope prior to attaching the plurality of rope bearings of the rope
assembly to the plurality of links of the robotic arm.
[0008] In certain exemplary aspects attaching the plurality of rope bearings of the rope
assembly to the plurality of links of the robotic arm includes removably coupling
the plurality of rope bearings of the rope assembly to the plurality of links of the
robotic arm.
[0009] In certain exemplary aspects providing the rope assembly having the rope with the
plurality of rope bearings threaded thereon includes providing a plurality of rope
assemblies, with each rope assembly including a rope with a respective plurality of
rope bearings threaded thereon, and wherein attaching the plurality of rope bearings
of the rope assembly to the plurality of links of the robotic arm includes attaching
the plurality of rope bearings of each rope assembly of the plurality of rope assemblies
to the plurality of links of the robotic arm.
[0010] For example, in certain exemplary aspects the plurality of rope assemblies includes
at least 6 rope assemblies.
[0011] In certain exemplary aspects the plurality of links includes a forward link and an
aft link, wherein the forward link includes a bracket, wherein the aft link also includes
a bracket, and wherein attaching the plurality of rope bearings of the rope assembly
to the plurality of links of the robotic arm includes attaching a first rope bearing
to the bracket of the forward link, and attaching a second rope bearing to the bracket
of the aft link.
[0012] In certain exemplary aspects the rope includes an anchor fixedly coupled to an end
of the rope, and wherein the method further includes attaching the anchor to one link
of the plurality of links.
[0013] In certain exemplary aspects the plurality of links includes a respective plurality
of brackets, wherein attaching the plurality of rope bearings of the rope assembly
to the plurality of links of the robotic arm includes attaching the rope bearings
of the rope assembly to the respective plurality of brackets of the plurality of links.
[0014] In certain exemplary aspects attaching the plurality of rope bearings of the rope
assembly to the plurality of links of the robotic arm includes attaching a first rope
bearing to a first bracket of a first link of the plurality of links.
[0015] For example, in certain exemplary aspects attaching the first rope bearing to the
first bracket of the first link of the plurality of links includes moving the first
rope bearing at least partially into a bracket opening of the first bracket and attaching
a bracket cap to a bracket base to removably couple the first rope bearing to the
first link.
[0016] For example, in certain exemplary aspects attaching the first rope bearing to the
first bracket of the first link of the plurality of links includes moving the first
rope bearing at least partially into a bracket opening of the first bracket and attaching
a lock to the first rope bearing to removably couple the first rope bearing to the
first link.
[0017] For example, in certain exemplary aspects the rope assembly includes a plurality
of ropes extending through the first rope bearing, and wherein attaching the first
rope bearing to the first bracket of the first link of the plurality of links includes
attaching the first rope bearing having the plurality of ropes of the rope assembly
extending therethrough to the first bracket of the first link.
[0018] In an exemplary embodiment of the present disclosure, a robotic arm is provided.
The robotic arm includes a plurality of links moveably coupled to one another, the
plurality of links collectively including a plurality of brackets; and a rope assembly
including a rope and a plurality of bearings threaded thereon, each bearing of the
plurality of bearings removably coupled to one bracket of the plurality of brackets
of the plurality of links.
[0019] In certain exemplary embodiments each link extends between a forward end and an aft
end, and wherein the plurality of brackets includes a forward bracket at the forward
end of each link and an aft bracket at the aft end of each link.
[0020] In certain exemplary embodiments the plurality of links includes a first link, wherein
the plurality of brackets of the plurality of links includes a forward bracket positioned
at a forward end of the first link, wherein the forward bracket defines a forward
bracket opening, wherein a first bearing of the plurality of bearings of the rope
assembly is positioned within the forward bracket opening.
[0021] For example, in certain exemplary embodiments the forward bracket includes a cap
and a base, wherein the base defines at least in part the forward bracket opening,
and wherein the cap is removably coupled to the base for removably coupling the first
bearing to the forward bracket.
[0022] For example, in certain exemplary embodiments the first bearing includes a body and
a lock, wherein the lock is removably coupled to the body for removably coupling the
first bearing to the forward bracket.
[0023] For example, in certain exemplary embodiments the body of the first bearing extends
between a first end and a second end, wherein the body of the first bearing includes
a head at the first and defines a groove at the second end, and wherein the lock is
removably positioned within the groove.
[0024] For example, in certain exemplary embodiments the bracket defines a plurality of
bracket openings, and wherein the robotic arm further includes a plurality of rope
assemblies, wherein each rope assembly includes a bearing removably positioned in
one of the plurality of bracket openings of the bracket.
[0025] In certain exemplary embodiments the rope assembly includes a plurality of ropes,
wherein the plurality of links includes a first link defining a circumferential direction,
wherein the plurality of brackets includes a first bracket positioned on the first
link and defining a plurality of openings spaced along the circumferential direction,
and wherein the plurality of ropes extend through the plurality of openings of the
first bracket.
[0026] These and other features, aspects and advantages of the present invention will become
better understood with reference to the following description and appended claims.
The accompanying drawings, which are incorporated in and constitute a part of this
specification, illustrate embodiments of the invention and, together with the description,
serve to explain the principles of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] A full and enabling disclosure of the present invention, including the best mode
thereof, directed to one of ordinary skill in the art, is set forth in the specification,
which makes reference to the appended figures, in which:
Fig. 1 is a schematic, cross-sectional view of a robotic arm assembly in accordance
with an exemplary embodiment of the present disclosure.
Fig. 2 is a close-up, schematic view of a section of a robotic arm of the exemplary
robotic arm assembly of Fig. 1.
Fig. 3 is a schematic view of a rope assembly in accordance with an exemplary embodiment
of the present disclosure.
Fig. 4 is a schematic view of a bearing of a rope assembly and a bracket of a link
in accordance with an exemplary embodiment of the present disclosure in a first attachment
phase.
Fig. 5 is a schematic view of the exemplary bearing and bracket of Fig. 4 in a second
attachment phase.
Fig. 6 is a schematic view of the exemplary bearing and bracket of Fig. 4 along a
lengthwise direction of the exemplary link.
Fig. 7 is a schematic view of a rope assembly and a link of a robotic arm in accordance
with another exemplary embodiment of the present disclosure.
Fig. 8 is a schematic view of a plurality of rope assemblies and a link of a robotic
arm in accordance with yet another exemplary embodiment of the present disclosure.
Fig. 9 is a perspective view of a bearing of a rope assembly of the plurality of exemplary
rope assemblies and the exemplary link of Fig. 8 in a first attachment phase.
Fig. 10 is a perspective view of the bearing of the rope assembly of the plurality
of exemplary rope assemblies and the exemplary link of Fig. 8 in a second attachment
phase.
Fig. 11 is a view of a link and a plurality of rope assemblies in accordance with
an exemplary embodiment of the present disclosure along a longitudinal direction of
the exemplary link.
Fig. 12 is a cross-sectional view of the exemplary link and exemplary plurality of
rope assemblies of Fig. 11, along Line 12-12 of Fig. 11.
Fig. 13 is a flow diagram of a method for constructing a robotic arm of a robotic
arm assembly in accordance with yet another exemplary aspect of the present disclosure.
DETAILED DESCRIPTION
[0028] Reference will now be made in detail to present embodiments of the invention, one
or more examples of which are illustrated in the accompanying drawings. The detailed
description uses numerical and letter designations to refer to features in the drawings.
Like or similar designations in the drawings and description have been used to refer
to like or similar parts of the invention.
[0029] As used herein, the terms "first", "second", and "third" may be used interchangeably
to distinguish one component from another and are not intended to signify location
or importance of the individual components.
[0030] The terms "forward" and "aft" refer to relative positions within a component or system,
and refer to the normal operational attitude of the component or system. For example,
with regard to a robotic arm, forward refers to a position closer to a distal end
of the robotic arm and aft refers to a position closer to a root end of the robotic
arm.
[0031] The terms "coupled," "fixed," "attached to," and the like refer to both direct coupling,
fixing, or attaching, as well as indirect coupling, fixing, or attaching through one
or more intermediate components or features, unless otherwise specified herein.
[0032] The singular forms "a", "an", and "the" include plural references unless the context
clearly dictates otherwise.
[0033] Approximating language, as used herein throughout the specification and claims, is
applied to modify any quantitative representation that could permissibly vary without
resulting in a change in the basic function to which it is related. Accordingly, a
value modified by a term or terms, such as "about", "approximately", and "substantially",
are not to be limited to the precise value specified. In at least some instances,
the approximating language may correspond to the precision of an instrument for measuring
the value, or the precision of the methods or machines for constructing or manufacturing
the components and/or systems. For example, the approximating language may refer to
being within a 10 percent margin.
[0034] Here and throughout the specification and claims, range limitations are combined
and interchanged, such ranges are identified and include all the sub-ranges contained
therein unless context or language indicates otherwise. For example, all ranges disclosed
herein are inclusive of the endpoints, and the endpoints are independently combinable
with each other.
[0035] Referring now to the drawings, wherein identical numerals indicate the same elements
throughout the Figs., Fig. 1 is a schematic view of a robotic arm assembly 100 in
accordance with an exemplary embodiment of the present disclosure. The exemplary robotic
arm assembly 100 depicted generally includes a support assembly 102, a robotic arm
104, and a utility member 106. The support assembly 102 generally includes one or
more motors 108 and a controller 110. The controller 110 is operably coupled to the
one or more motors 108 for controlling operation of the robotic arm assembly 100.
Additionally, the controller 110 may be operably coupled to the utility member 106
and/or one or more sensors (not shown) attached to or embedded in the robotic arm
104 and/or utility member 106. Further, the robotic arm 104 extends generally between
a root end 112 and a distal end 114. The robotic arm 104 is coupled to the support
assembly 102 at the root end 112 and includes the utility member 106 at the distal
end 114.
[0036] Moreover, the robotic arm 104 of the exemplary robotic arm assembly 100 depicted
is generally formed of a plurality of links 116 and a plurality of joints 118, with
the plurality of links 116 sequentially arranged and movably coupled to one another
with the plurality of joints 118.
[0037] Briefly, it will be appreciated that the robotic arm 104 may define certain parameters
to further enable it to reach the relatively remote positions within, e.g., an interior
of a gas turbine engine or other remote locations of an environment. More specifically,
for the embodiment shown, the robotic arm 104 defines a length between the root end
112 in the distal end 114 of least about thirty-six (36) inches, such as at least
about forty-eight (48) inches, such as at least about sixty (60) inches, such as up
to about 600 inches. Similarly, the robotic arm 104 defines a maximum diameter between
the root end 112 and the distal end 114, which for the embodiment depicted is a maximum
diameter of each of the individual segments 118 of the robotic arm 116, less than
about five (5) inches. For example, the maximum diameter of the robotic arm 104 may
be less than about three (3) inches, such as less than about 2.5 inches, such as less
than about one (1) inch. Such may further allow the robotic arm 104 to reach the relatively
remote locations desired.
[0038] Referring now also to Fig. 2, a close-up, schematic view is provided of an adjacent
pair of links 116 (i.e., a forward link 116A and an aft link 116B) and a joint 118
of the exemplary robotic arm 104 of Fig. 1. Notably, for the exemplary embodiment
depicted, the joint 118 between the forward link 116A and the aft link 116B is configured
as a ball joint allowing for at least three degrees of freedom between the forward
and aft links 116A, 116B. However, in other embodiments, any other suitable joint
118 may be provided to allow for any other suitable number of degrees of freedom.
For example, in other embodiments, the joint 118 may be configured as a flexural joint
(e.g., a narrowed portion of a continuous material forming the plurality of links
and joint), a roller joint, a pair of roller joints, etc. and such joints may have
anywhere between one and six degrees of freedom.
[0039] As will be appreciated, the plurality of links 116 further include a plurality of
brackets 120 and the robotic arm 104 further includes a rope assembly 122, or rather
a plurality of rope assemblies 122, with each rope assembly 122 removably coupled
to at least one of the links 116 via the plurality of brackets 120 of the links 116.
More specifically, for the embodiment depicted each link 116 includes a forward bracket
120A and an aft bracket 120B, and more specifically, still, a first forward bracket
120A-1, a second forward bracket 120A-2, a first aft bracket 120B-1, and a second
aft bracket 120B-2. Accordingly, the forward link 116A and aft link 116B each include
at least these four brackets 120A-1, 120B-1, 120A-2, 120B-2. Additionally, the plurality
of rope assemblies 122 includes a first rope assembly 122A and a second rope assembly
122B. The first rope assembly 122A is removably coupled to the first forward and aft
brackets 120A-1, 120B-1 of the forward link 116A and the first forward and aft brackets
120A-1, 120B-1 of the aft link 116B, and similarly, the second rope assembly 122B
is removably coupled to the second forward and aft brackets 120A-2, 120B-2 of the
forward link 116A and the second forward and aft brackets 120A-2, 120B-2 of the aft
link 116B. Notably, however, in other exemplary embodiments, each link 116 may only
include a single bracket 120 for each rope assembly 122, such that a single bearing
126 of each rope assembly 122 is coupled to each link 116. Such may be the case, e.g.,
when the links 116 are not particularly long, and/or where the links 116 are not expected
to flex substantially relative to the forward and aft adjacent links 116.
[0040] Referring now also briefly to Fig. 3, providing a close-up view of the first rope
assembly 122A, it will be appreciated that the first rope assembly 122A generally
includes a rope 124 and a plurality of bearings 126 threaded thereon. Specifically,
the section of the first rope assembly 122A depicted in Fig. 3 includes four bearings
126 threaded thereon, with each bearing 126 generally defining a flared forward section
128 and a flared aft section 130 (each depicted in phantom) for reducing an amount
of friction on the rope 124 extending/threaded therethrough during operation of the
robotic arm 104 (preventing or limiting damage to both the rope 124 and the material
forming the bearing 126). It will be appreciated that as used herein the term "rope"
may refer to any of a rope, wire, line, etc. capable of performing the functions described
herein. It will also be appreciated that in other embodiments, one or both of the
forward section 128 and aft section 124 may not be flared. Specifically, in at least
certain embodiments, only one of the forward section 128 or the aft section 124 of
the bearing 126 may be flared to accommodate an expected rope deflection.
[0041] As will be appreciated from Figs. 2 and 3, each of the four bearings 126 of the first
rope assembly 122A depicted in Fig. 3 is removably coupled to one of the brackets
120 of the forward and aft links 116A, 116B in Fig. 3. Specifically, one of the four
bearings 126 of the first rope assembly 122A is removably coupled to the first forward
bracket 120A-1 of the forward link 116A, the first aft bracket 120B-1 of the forward
link 116A, the first forward bracket 120A-1 of the aft link 116B, and the first aft
bracket 120B-1 of the aft link 116B. In such a manner, it will be appreciated that
the first rope assembly 122A may be installed as the unit to an otherwise assembled
robotic arm 104, and similarly may be replaced as a unit in the event of a failure
of, e.g., one or more of the bearings 126 or the rope 124 of the first rope assembly
122A.
[0042] Moreover, for the embodiment depicted, the first rope assembly 122A includes an anchor
129 fixed to an end of the rope 124 (see Fig. 3). As will be appreciated, the anchor
129 may also be coupled to a bracket 120 of a link 116 in the same manner that the
exemplary bearings 126 of the rope assembly 122 are attached to the brackets 120.
However, the anchor 129 is fixed to the rope 124 (such that the rope 124 may not slide
therethrough), and in such a manner couples the rope 124 to the respective link 116
such that increasing or decreasing a tension in the rope 124 may control a movement
of the link 116.
[0043] It should also be appreciated that by having the bearings 126 of the rope assemblies
122 removably coupled to the links 116 (via the brackets 120 for the embodiments shown),
as opposed to being formed integrally with the links 116 as has been done in the past,
the bearings 126 may be formed of a different material than the links 116 and brackets
120. For example, the bearings 126 may be formed of a material designed to allow for
a relatively low friction movement of the ropes 124 therethrough, without wearing
prematurely. By contrast, the links 116 may be formed of a material designed to withstand
the tension and compression forces of the robotic arm 104, while also meeting any
weight requirements. For example, in at least one embodiment, the bearings 126 may
be formed of a metal material, while the links 116 may be formed of a plastic, or
plastic polymer material. Of course, in other embodiments, any other suitable materials
may be used.
[0044] Further, although not depicted in close-up detail, it will be appreciated that the
second rope assembly 122B is a similarly configured as the first rope assembly 122A.
Accordingly, the second rope assembly 122B may also be installed as a unit to an otherwise
assembled robotic arm 104, and also may be replaced as a unit in the event of a failure
of, e.g., one or more of the bearings 126 or rope 124 of the second rope assembly
122B. Further, although the exemplary section of the robotic arm 104 depicted in Fig.
2 includes only two links 116, in other embodiments, one or both of the first or second
rope assemblies 122A, 122B may extend along any suitable number of the links 116.
Further, as will be appreciated from one or more of the embodiments described below,
although only two rope assemblies 122 are depicted in Fig. 2 (i.e., the first rope
assembly 122A and the second rope assembly 122B), in other exemplary embodiments,
the robotic arm 104 may include any other suitable number of rope assemblies 122.
For example, as noted the rope assemblies 122 may each further include an anchor 129
which fixes the rope 124 of the rope assembly 122 to a particular link 116. Two or
more rope assemblies 122 may terminate at a particular link 116, such that increasing
tension on a rope 124 of one rope assembly 122, and decreasing tension on a rope 124
of another, corresponding rope assembly 122 may cause the link 116 to move relative
to an aft-adjacent link 116. In certain embodiments, each link 116 of the plurality
of links 116 of the robotic arm 104 may have two or more corresponding rope assemblies
122 terminating at the link 116 for controlling the link 116. Alternatively, in other
embodiments, two or more links 116 of the plurality of links 116 may be configured
to move together, such that each of said links 116 does not include individual corresponding
rope assemblies 122 terminating at such link 116. The tension may be increased or
decreased using the one or more motors 108 of the support assembly 102.
[0045] As will be appreciated from Figs. 2 and 3, each bearing 126 of the first rope assembly
122A and the second rope assembly 122B may be removably coupled to the respective
brackets 120 of the links 116 in any suitable manner. For example, referring now to
Figs. 4 through 6, one embodiment of a bracket 120 configured to removably couple
a bearing 126 to a link 116 is provided. For example, in one embodiment, the exemplary
bracket 120 depicted in Figs. 4 through 6 may be the first, forward bracket 120A-1
of the forward link 116A of the robotic arm 104 depicted in Fig. 2, and the rope assembly
122 depicted may be the first rope assembly 122A depicted in Fig. 2. Of course, other
brackets 120 of the links 116 may also or alternatively be configured in accordance
with the embodiment described.
[0046] As will be appreciated from Figs. 4 through 6, the bracket 120 generally includes
a bracket base 132 and a bracket cap 134 (Figs. 5 and 6). The bracket base 132 defines
a first bracket channel 136 for at least partially receiving the bearing 126 of the
rope assembly 122 (Fig. 6). The bracket cap 134 similarly defines a second bracket
channel 138 for positioning over at least a portion of the bearing 126 of the rope
assembly 122 (Fig. 6). Notably, for the embodiment depicted, the first bracket channel
136 extends along an entire length of the bracket base 132 and second bracket channel
138 of the bracket cap 134 extends along an entire length of the bracket cap 134 (the
lengths of each of the bracket base 132 and bracket cap 134 defined along a lengthwise
axis 140 of the link 116). Also, for the embodiment depicted, the bracket base 132
and bracket cap 134 are each longer, along the lengthwise axis 140 of the forward
link 116A, than the bearing 126. It will be appreciated, however, that in other embodiments,
the first bracket channel 136 and second bracket channel 138 may not extend along
the entire length of the bracket base 132 and bracket cap 134, respectively, or alternatively,
in other embodiments, the bearing 126 may be longer along the lengthwise axis 140
of the forward link 116A than one or both of the bracket base 132 and bracket cap
134.
[0047] Referring particularly to Fig. 6, providing a forward end view of the bracket 120,
it will be appreciated that for the embodiment depicted, the bearing 126 defines a
substantially circular cross-sectional shape. Similarly, the first bracket channel
136 and second bracket channel 138 of the bracket base 132 and bracket cap 134, respectively,
together form a corresponding shape to the cross-sectional shape of the bearing 126,
which again is a circular cross-sectional shape for the embodiment depicted. The bracket
cap 134 may be bolted or otherwise mechanically and removably affixed to the bracket
base 132 to clamp the bearing 126 of the rope assembly 122 in position. In such a
manner, the bearing 126 is removably coupled to the forward link 116A through the
bracket 120 depicted. For example, the embodiment depicted uses a pair of bolts 142,
however, other embodiments may utilize any suitable number or configuration of mechanical
attachment features.
[0048] It will be appreciated, however, that in other exemplary embodiments, the robotic
arm 104, and more specifically, the plurality of brackets 120 and rope assembly(ies)
122 may have any other suitable configuration.
[0049] For example, referring briefly to Fig. 7, a cross-sectional view of a bracket 120
in accordance with another exemplary embodiment of the present disclosure is provided
including a bearing 126 removably coupled thereto. For the embodiment depicted, the
bracket 120 generally includes a bracket base 132 defining an opening 144 extending
along a length thereof (and along a longitudinal axis 140 of the link 116), having
a cross-sectional shape corresponding to a cross-sectional shape of the bearing 126
(e.g., each may define a similar circular cross-sectional shape). In such a manner,
it will be appreciated that the bearing 126 may be slidably received within the opening
144 of the bracket base 132 (i.e., slidable along the axis 140 of the link 116/axis
of the opening of the bracket base 132, not labeled). For the embodiment depicted,
in order to removably fix the bearing 126 of the rope assembly 122 to the bracket
120, the bracket 120 further includes a bracket cap 134. The bracket cap 134 includes
a forward flange 146 and an aft flange 148 extending over a forward and aft end, respectively,
of the opening 144 of the bracket base 132. The bracket cap 134 may be removably coupled
to the bracket base 132, e.g., by one or more screws, bolts, magnets, etc. (similar
to the embodiment of, e.g., Fig. 6). In such a manner, the bearing 126 of the rope
assembly 122 may be removably coupled to the bracket 120, and accordingly, removably
coupled to the link 116.
[0050] Additionally, in still other embodiments, any other suitable configuration may be
provided for the robotic arm 104, and more specifically, for the plurality of brackets
120 and rope assembly(ies) 122. For example, referring now to Figs. 8 through 10,
a bracket 120 of a link 116 of a robotic arm 104 and corresponding rope assemblies
122 in accordance with another exemplary embodiment of the present disclosure are
depicted.
[0051] Referring first to Fig. 8, it will be appreciated that the bracket 120, which may
be positioned on the link 116 of the robotic arm 104 at a similar location as one
or more of the exemplary brackets 120 described above with reference to Fig. 2 (e.g.,
the first forward bracket 120A-1 of the forward link 116A), is configured for receiving
a plurality of bearings 126 from a plurality of different rope assemblies 122. Specifically,
the exemplary bracket 120 depicted in Fig. 8 defines a plurality of openings 150 spaced
along a circumferential direction C of the link 116 (i.e., a direction extending about
a longitudinal axis 140 of the link 116; see Figs. 9 and 10, below), with each opening
150 configured to receive an individual bearing 126 of an separate rope assembly 122.
More specifically, for the embodiment of Fig. 8, the bracket 120 defines four openings
150 (e.g., openings 150A, 150B, 150C, and 150D) spaced along the circumferential direction
C for receiving four individual bearings 126 (e.g., 126A, 126B, 126C, 126D) of four
respective, separate rope assemblies 122 (e.g., 122A, 122B, 122C, 122D). Notably,
for the embodiment depicted, each of the individual bearings 126 may be slidable along
the longitudinal axis 140 of the link 116 into a respective opening 150 of the bracket
120. For example, for the embodiment depicted each bracket 120 is shaped to constrain
the bearings 126 along a radial direction R of the link 116, but allow for at least
some movement along the longitudinal axis 140 of the link 116.
[0052] More particularly, referring now to Fig. 9, it will be appreciated that the exemplary
bearing 126 depicted (e.g., the first bearing 126A of Fig. 8) defines a nonuniform
shape along the length of the bearing 126 (which is in alignment with the axis 140
of the link 116 once installed in the bracket 120). Specifically, for the embodiment
shown, the exemplary bearing 126 extends between a first end 152 and a second end
154. At the first end 152 of the exemplary bearing 126, the exemplary bearing 126
includes a bearing head 156 defining a width greater than a width of the corresponding
opening 150A in the bracket 120. At the second end 154 of the exemplary bearing 126,
the exemplary bearing 126 includes a groove 158, and more particularly, a circumferential
groove. Referring now to Fig. 10, once the bearing 126 is positioned within the respective
opening 150 of the bracket 120, a lock 160 of the bearing 126 may be installed within
the groove 158 of the bearing 126. The lock 160, similar to the bearing head 156,
defines a width greater than the width of the corresponding opening 150 in the bracket
120. In such a manner, once the lock is installed, the bearing 126 is removably coupled
to the bracket 120, and accordingly is also removably coupled to the corresponding
link 116.
[0053] Notably, for the embodiment depicted, the lock 160 is configured as a C-clip that
attaches to the groove 156 at the second end 154 of the bearing 126. However, in other
embodiments, the lock 160 may instead be a wire bar that couples to the groove 156,
or any other suitable geometry for constraining the bearing 126 along a length of
the bracket 120. Additionally, while the configuration depicted and described with
reference to Figs. 8 through 10 includes a bracket 120 for mounting four separate
rope assemblies 122, in other exemplary embodiments, the bracket 120 may be configured
to instead mount any other suitable number of rope assemblies 122 (e.g, 2, 3, 5, 6,
7, 8, 9, 10, or up to 50), or alternatively may mount a single rope assembly 122.
Similarly, although the embodiments described above with reference to Figs. 4 through
6 and Fig. 7 are depicted mounting a single rope assembly 122, in other embodiments,
one or more of these embodiments may mount a plurality of rope assemblies 122.
[0054] Further, in still other embodiments, any other suitable configuration may be provided
for the robotic arm 104, and more specifically, the plurality of brackets 120 and
rope assembly(ies) 122. For example, referring now to Figs. 11 and 12, a bracket 120
of a link 116 of a robotic arm 104 and corresponding rope assembly 122 in accordance
with another exemplary embodiment of the present disclosure is depicted. In certain
exemplary embodiments, the robotic arm 104 may be configured in a similar manner to
the exemplary robotic arm 104 described above with reference to Figs. 1 and 2.
[0055] As with the embodiment above, the robotic arm 104 further includes a rope assembly
122. Specifically, for the embodiment of Fig. 11, the robotic arm 104 includes a first
rope assembly 122A and a second rope assembly 122B. However, by contrast to the exemplary
rope assemblies 122 described above, for the embodiment depicted, the first and second
rope assemblies 122 each include a plurality of ropes 124. Specifically, with reference
to the first rope assembly 122A, the first rope assembly 122A includes a bearing 126,
with the bearing 126 having a plurality of openings 162 circumferentially spaced (i.e.,
spaced along a circumferential direction C of the link 116 when coupled to the link
116), with each opening 162 including an individual rope 124 extending therethrough.
Specifically, for the embodiment depicted, the bearing 126 of the first rope assembly
122A includes nine openings 162 circumferentially spaced from one another, and nine
individual ropes 124, each individual rope 124 extending through a respective opening
162. The bearing 126 is removably coupled to a first bracket 120A (depicted in phantom
in Fig. 11) on the link 116, and more specifically, the first bracket 120A is configured
as a slotted bracket having one or more attachment points 164 and defining one or
more slots 166 for the plurality of ropes 124 to extend through. As is represented
schematically, for the embodiment of Fig. 11, the first bracket 120A includes two
attachment points 164 whereby the bearing 126 of the first rope assembly 122A may
be removably coupled to such first bracket 120A. For example, the bearing 126 may
be removably coupled to the first bracket 120A using a mechanical attachment, such
as, one or more bolts, screws, clamps, etc. at the attachment points 164.
[0056] Referring particularly to Fig. 12, providing a cross-sectional view along Line 12-12
of Fig. 11, such a configuration is depicted. As shown, the bearing 126 is positioned
adjacent to the first bracket 120A such that the opening 162 depicted with the rope
124 extending therethrough similarly extends through a corresponding slot 166 in the
bracket 120. Notably, however, in other embodiments, the bracket 120 may have any
other suitable configuration and the bearing 126 may be coupled to the bracket 120
any other suitable manner.
[0057] As will also be appreciated, the bearing 126 of the second rope assembly 122B is
configured in a similar manner to the bearing 126 of the first rope assembly 122A,
such that it accommodates the plurality of ropes 124 circumferentially spaced from
one another and is removably attached to a second bracket 120B of the link 116.
[0058] In such a manner, the first rope assembly 122A may be installed as a unit on an otherwise
assembled robotic arm 104 without requiring each individual rope 124 to be individually
installed. Further, in such a manner, in the event of a failure of one or more bearings
126 or ropes 124 of the first rope assembly 122A (or second rope assembly 122B), the
entire rope assembly 122 may be replaced in unison without having to, e.g., substantially
disassemble the robotic arm 104 and re-thread one or more ropes 124.
[0059] Notably, although for the embodiment depicted the first rope assembly 122A and second
rope assembly 122B extend substantially 180 degrees about the link 116, in other embodiments,
one or more of the rope assemblies 122 may extend less than 180 degrees around the
circumference of the link 116, such that more than two rope assemblies 122 may be
accommodated.
[0060] Referring now to Fig. 13 a method 200 for constructing a robotic arm in accordance
with an exemplary aspect of the present disclosure is provided. The method 200 may
be utilized to construct one or more the exemplary robotic arms described above with
reference to, e.g., Figs. 1 through 12. Accordingly, the robotic arm may generally
include a plurality of links movably coupled to one another and a rope assembly.
[0061] For the exemplary aspect depicted, the method 200 generally includes at (202) providing
the rope assembly having a rope with a plurality of rope bearings threaded thereon,
and at (204) attaching the plurality of rope bearings of the rope assembly to the
plurality of links of the robotic arm.
[0062] More specifically, it will be appreciated that for the exemplary aspect depicted
the rope is a pre-threaded rope (i.e., the rope assembly is provided having a rope
with bearings threaded thereon). In such a manner, it will be appreciated that providing
the rope assembly, with the rope assembly having the rope with the plurality of rope
bearings threaded thereon at (202) includes at (206) threading the plurality of bearings
on the rope prior to attaching the plurality of rope bearings of the rope assembly
to the plurality of links of the robotic arm at (204). Moreover, it will be appreciated
that, as used herein, the term "providing" does not require an original manufacturing
of the component, and instead may require only making such component available.
[0063] Further, for the exemplary aspect depicted, attaching the plurality of rope bearings
of the rope assembly to the plurality of links of the robotic arm at (204) more specifically
includes at (208) removably coupling the plurality of bearings of the rope assembly
to the plurality of links of the robotic arm. For example, in certain exemplary embodiments,
the plurality of links may include a respective plurality of brackets. In such an
exemplary aspect, attaching the plurality of rope bearings of the rope assembly to
the plurality of links of the robotic arm at (204) includes at (210) attaching the
rope bearings of the rope assembly to the respective plurality of brackets of the
plurality of links of the robotic arm.
[0064] More specifically, for the exemplary aspect depicted, attaching the plurality of
rope bearings of the rope assembly to the plurality of links of the robotic arm at
(204) includes at (212) attaching a first rope bearing to a first bracket of the first
link of the plurality of links. Further, attaching the first rope bearing to the first
bracket of the first link of the plurality of links at (212) includes, for the exemplary
aspect depicted, at (214) moving the first rope bearing at least partially into a
bracket opening of the first bracket and attaching a bracket cap to a bracket base
to removably fix the first rope bearing to the first link.
[0065] It will be appreciated, however, that in other exemplary aspects, the first rope
bearing may be removably attached to the first bracket of the first link in any other
suitable manner. For example, as is depicted in phantom, in other exemplary aspects,
attaching the first rope bearing to the first bracket of the first link of the plurality
of links at (212) may include at (216) moving the first rope bearing at least partially
into a bracket opening of the first bracket and attaching a lock to the first rope
bearing to removably fix the first rope bearing to the first link.
[0066] Additionally, or alternatively, still, it will be appreciated that in certain exemplary
aspects, the first rope bearing of the rope assembly may be configured to hold a plurality
of ropes of the rope assembly. With such an exemplary aspect, as is also depicted
in phantom, attaching the first rope bearing to the first bracket of the first link
of the plurality of links at (212) may include at (218) attaching the first rope bearing
having a plurality of individual ropes of the rope assembly extending therethrough
to the first bracket of the first link.
[0067] Referring still to Fig. 13, additional rope assemblies may also be coupled to the
plurality of links. For example, for the aspect depicted, providing the rope assembly
having the rope with the plurality of rope bearings threaded thereon at (202) includes
at (220) providing a plurality of rope assemblies with each rope assembly including
a rope with a respective plurality of rope bearings threaded thereon. With such an
exemplary aspect, attaching the plurality of rope bearings to the rope assembly to
the plurality of links of the robotic arm at (204) includes at (222) attaching the
plurality of rope bearings of each rope assembly of the plurality of rope assemblies
to the plurality of links of the robotic arm. For example, in certain exemplary aspects,
the plurality of rope assemblies may include at least six rope assemblies. Notably,
six rope assemblies may allow for multiple degrees of freedom for at least two links
of a robotic arm.
[0068] This written description uses examples to disclose the invention, including the best
mode, and also to enable any person skilled in the art to practice the invention,
including making and using any devices or systems and performing any incorporated
methods. The patentable scope of the invention is defined by the claims, and may include
other examples that occur to those skilled in the art. Such other examples are intended
to be within the scope of the claims if they include structural elements that do not
differ from the literal language of the claims, or if they include equivalent structural
elements with insubstantial differences from the literal languages of the claims.
[0069] Further aspects of the invention are provided by the subject matter of the following
clauses:
- 1. A method for constructing a robotic arm comprising a plurality of links and a rope
assembly, the method comprising:
providing the rope assembly having a rope with a plurality of rope bearings threaded
thereon; and
attaching the plurality of rope bearings of the rope assembly to the plurality of
links of the robotic arm.
- 2. The method of clause 1, wherein providing the rope assembly having the rope with
the plurality of rope bearings threaded thereon comprises threading the plurality
of rope bearings on the rope prior to attaching the plurality of rope bearings of
the rope assembly to the plurality of links of the robotic arm.
- 3. The method of any preceding clause, wherein attaching the plurality of rope bearings
of the rope assembly to the plurality of links of the robotic arm comprises removably
coupling the plurality of rope bearings of the rope assembly to the plurality of links
of the robotic arm.
- 4. The method of any preceding clause, wherein providing the rope assembly having
the rope with the plurality of rope bearings threaded thereon comprises providing
a plurality of rope assemblies, with each rope assembly including a rope with a respective
plurality of rope bearings threaded thereon, and wherein attaching the plurality of
rope bearings of the rope assembly to the plurality of links of the robotic arm comprises
attaching the plurality of rope bearings of each rope assembly of the plurality of
rope assemblies to the plurality of links of the robotic arm.
- 5. The method of any preceding clause, wherein the plurality of rope assemblies comprises
at least 6 rope assemblies.
- 6. The method of any preceding clause, wherein the plurality of links comprises a
forward link and an aft link, wherein the forward link includes a bracket, wherein
the aft link also includes a bracket, and wherein attaching the plurality of rope
bearings of the rope assembly to the plurality of links of the robotic arm includes
attaching a first rope bearing to the bracket of the forward link, and attaching a
second rope bearing to the bracket of the aft link.
- 7. The method of any preceding clause, wherein the rope includes an anchor fixedly
coupled to an end of the rope, and wherein the method further comprises attaching
the anchor to one link of the plurality of links.
- 8. The method of any preceding clause, wherein the plurality of links comprise a respective
plurality of brackets, wherein attaching the plurality of rope bearings of the rope
assembly to the plurality of links of the robotic arm comprises attaching the rope
bearings of the rope assembly to the respective plurality of brackets of the plurality
of links.
- 9. The method of any preceding clause, wherein attaching the plurality of rope bearings
of the rope assembly to the plurality of links of the robotic arm comprises attaching
a first rope bearing to a first bracket of a first link of the plurality of links.
- 10. The method of any preceding clause, wherein attaching the first rope bearing to
the first bracket of the first link of the plurality of links comprises moving the
first rope bearing at least partially into a bracket opening of the first bracket
and attaching a bracket cap to a bracket base to removably couple the first rope bearing
to the first link.
- 11. The method of any preceding clause, wherein attaching the first rope bearing to
the first bracket of the first link of the plurality of links includes moving the
first rope bearing at least partially into a bracket opening of the first bracket
and attaching a lock to the first rope bearing to removably couple the first rope
bearing to the first link.
- 12. The method of any preceding clause, wherein the rope assembly includes a plurality
of ropes extending through the first rope bearing, and wherein attaching the first
rope bearing to the first bracket of the first link of the plurality of links includes
attaching the first rope bearing having the plurality of ropes of the rope assembly
extending therethrough to the first bracket of the first link.
- 13. A robotic arm comprising:
a plurality of links moveably coupled to one another, the plurality of links collectively
comprising a plurality of brackets; and
a rope assembly comprising a rope and a plurality of bearings threaded thereon, each
bearing of the plurality of bearings removably coupled to one bracket of the plurality
of brackets of the plurality of links.
- 14. The robotic arm of clause 13, wherein each link extends between a forward end
and an aft end, and wherein the plurality of brackets includes a forward bracket at
the forward end of each link and an aft bracket at the aft end of each link.
- 15. The robotic arm of clause 13 or 14, wherein the plurality of links includes a
first link, wherein the plurality of brackets of the plurality of links includes a
forward bracket positioned at a forward end of the first link, wherein the forward
bracket defines a forward bracket opening, wherein a first bearing of the plurality
of bearings of the rope assembly is positioned within the forward bracket opening.
- 16. The robotic arm of clause 15, wherein the forward bracket comprises a cap and
a base, wherein the base defines at least in part the forward bracket opening, and
wherein the cap is removably coupled to the base for removably coupling the first
bearing to the forward bracket.
- 17. The robotic arm of clause 15 or 16, wherein the first bearing comprises a body
and a lock, wherein the lock is removably coupled to the body for removably coupling
the first bearing to the forward bracket.
- 18. The robotic arm of clause 17, wherein the body of the first bearing extends between
a first end and a second end, wherein the body of the first bearing includes a head
at the first and defines a groove at the second end, and wherein the lock is removably
positioned within the groove.
- 19. The robotic arm of any of clauses 13 to 18, wherein the bracket defines a plurality
of bracket openings, and wherein the robotic arm further comprises a plurality of
rope assemblies, wherein each rope assembly includes a bearing removably positioned
in one of the plurality of bracket openings of the bracket.
- 20. The robotic arm of any of clauses 13 to 19, wherein the rope assembly includes
a plurality of ropes, wherein the plurality of links includes a first link defining
a circumferential direction, wherein the plurality of brackets includes a first bracket
positioned on the first link and defining a plurality of openings spaced along the
circumferential direction, and wherein the plurality of ropes extend through the plurality
of openings of the first bracket.
1. A method (200) for constructing a robotic arm (104) comprising a plurality of links
(116) and a rope assembly (122), the method comprising:
providing (202) the rope assembly (122) having a rope with a plurality of rope bearings
(126) threaded thereon; and
attaching (204) the plurality of rope bearings (126) of the rope assembly (122) to
the plurality of links (116) of the robotic arm (104).
2. The method (200) of any preceding claim, wherein providing (202) the rope assembly
(122) having the rope (124) with the plurality of rope bearings (126) threaded thereon
comprises threading (206) the plurality of rope bearings (126) on the rope (124) prior
to attaching the plurality of rope bearings (126) of the rope assembly (122) to the
plurality of links (116) of the robotic arm (104).
3. The method (200) of any preceding claim, wherein attaching (204) the plurality of
rope bearings (126) of the rope assembly (122) to the plurality of links (116) of
the robotic arm (104) comprises removably coupling (208) the plurality of rope bearings
(126) of the rope assembly (122) to the plurality of links (116) of the robotic arm
(104).
4. The method (200) of any preceding claim, wherein providing (202) the rope assembly
(122) having the rope (124) with the plurality of rope bearings (126) threaded thereon
comprises providing (220) a plurality of rope assemblies (122), with each rope assembly
(122) including a rope (124) with a respective plurality of rope bearings (126) threaded
thereon, and wherein attaching (204) the plurality of rope bearings (126) of the rope
assembly (122) to the plurality of links (116) of the robotic arm (104) comprises
attaching (222) the plurality of rope bearings (126) of each rope assembly (122) of
the plurality of rope assemblies (122) to the plurality of links (116) of the robotic
arm (104).
5. The method (200) of claim 4, wherein the plurality of rope assemblies (122) comprises
at least 6 rope assemblies (122).
6. The method (200) of any preceding claim, wherein the plurality of links (116) comprises
a forward link (116A) and an aft link (116B), wherein the forward link (116A) includes
a bracket (120), wherein the aft link (116B) also includes a bracket (120), and wherein
attaching (204) the plurality of rope bearings (126) of the rope assembly (122) to
the plurality of links (116) of the robotic arm (104) includes attaching (212) a first
rope bearing to the bracket (120) of the forward link (116), and attaching a second
rope bearing to the bracket (120) of the aft link (116).
7. The method (200) of any preceding claim, wherein the rope (124) includes an anchor
(129) fixedly coupled to an end of the rope (124), and wherein the method further
comprises attaching the anchor (129) to one link (116) of the plurality of links (116).
8. A robotic arm (104) comprising:
a plurality of links (116) moveably coupled to one another, the plurality of links
(116) collectively comprising a plurality of brackets (120); and
a rope assembly (122) comprising a rope (124) and a plurality of bearings (126) threaded
thereon, each bearing (126) of the plurality of bearings (126) removably coupled to
one bracket (120) of the plurality of brackets (120) of the plurality of links (116).
9. The robotic arm (104) of claim 8, wherein each link (116) extends between a forward
end and an aft end, and wherein the plurality of brackets (120) includes a forward
bracket (120A) at the forward end of each link (116) and an aft bracket (120B) at
the aft end of each link (116).
10. The robotic arm (104) of claim 8 or 9, wherein the plurality of links (116) includes
a first link, wherein the plurality of brackets (120) of the plurality of links (116)
includes a forward bracket (120A) positioned at a forward end of the first link (116),
wherein the forward bracket (120A) defines a forward bracket opening, wherein a first
bearing of the plurality of bearings (126) of the rope assembly (122) is positioned
within the forward bracket opening.
11. The robotic arm (104) of claim 10, wherein the forward bracket (120) comprises a cap
(134) and a base (132), wherein the base (132) defines at least in part the forward
bracket (120) opening, and wherein the cap (134) is removably coupled to the base
(132) for removably coupling the first bearing to the forward bracket (120A).
12. The robotic arm (104) of claim 10 or 11, wherein the first bearing comprises a body
and a lock (160), wherein the lock (160) is removably coupled to the body for removably
coupling the first bearing to the forward bracket (120A).
13. The robotic arm (104) of claim 12, wherein the body of the first bearing extends between
a first end (152) and a second end (154), wherein the body of the first bearing includes
a head (156) at the first (152) and defines a groove (158) at the second end (154),
and wherein the lock (160) is removably positioned within the groove (158).
14. The robotic arm (104) of any of claims 10 to 13, wherein the bracket (120) defines
a plurality of bracket (120) openings, and wherein the robotic arm (104) further comprises
a plurality of rope assemblies (122), wherein each rope assembly (122) includes a
bearing removably positioned in one of the plurality of bracket (120) openings of
the bracket (120).
15. The robotic arm (104) of any of claims 8 to 14, wherein the rope assembly (122) includes
a plurality of ropes (124), wherein the plurality of links (116) includes a first
link defining a circumferential direction, wherein the plurality of brackets (120)
includes a first bracket positioned on the first link and defining a plurality of
openings spaced along the circumferential direction, and wherein the plurality of
ropes (124) extend through the plurality of openings of the first bracket.